Vision target based assembly
First Claim
1. A method for controlling an assembly process where a movable robot assembles a first part relative to a second part comprising the steps of:
- affixing targets to one of the robot, first part, and second part;
locating a TV camera at a known position relative to one of the other of the robot, first part and second part;
grasping the first part with the robot;
determining with the TV camera the position of the targeted one of the robot, first part and second part; and
automatically controlling the movement of the robot to assemble the first part relative to the second part based on the determined position of the targeted one of the robot, first part and second part relative to the TV camera and other one of the others of the robot, first par and second part.
3 Assignments
0 Petitions
Accused Products
Abstract
Methods and apparatuses for assemblying, handling, and fabrication are disclosed in which targets are used on objects. The targets can be specifically applied to the object, or can be an otherwise normal feature of the object. Conveniently, the targets are removable from the object or covered by another object during an assemblying process. One or more robots and imaging devices for the targets are used. The robots can be used to handle or assemble a part, or a fixture may be used in conjunction with the robots. Conveniently, the CAD design system is used in designing the targets as well as for the assembly process using the targets. A plurality of targets can also be used to monitor and inspect a forming process such as on a sheet panel.
243 Citations
16 Claims
-
1. A method for controlling an assembly process where a movable robot assembles a first part relative to a second part comprising the steps of:
-
affixing targets to one of the robot, first part, and second part; locating a TV camera at a known position relative to one of the other of the robot, first part and second part; grasping the first part with the robot; determining with the TV camera the position of the targeted one of the robot, first part and second part; and automatically controlling the movement of the robot to assemble the first part relative to the second part based on the determined position of the targeted one of the robot, first part and second part relative to the TV camera and other one of the others of the robot, first par and second part. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. A method of handling and assembling a composite part comprising the steps of:
-
affixing targets to a base part of the composite part; grasping the base part with a robot; locating a TV camera at a known position in space; viewing the targets with the TV camera during handling and assembling of an additional part to the base part to form the composite part; continuously determining the location of the base part in space using the TV camera during handling and assembling; and automatically guiding the robot to handle and assemble the composite part using the determined locations in space. - View Dependent Claims (8, 9, 10)
-
-
11. A method for assembling a part relative to a fixture comprising the steps of:
-
affixing targets to the fixture; locating a TV camera in position to view the targets and the part; continuously determining the position of the part relative to the fixture with the TV camera; grasping the part with a moveable robot; and automatically guiding the robot to place the part in the fixture using the continuously determined positions of the part relative to the fixture. - View Dependent Claims (12, 13, 14)
-
-
15. A method for a dynamic fabrication of a part with a movable robot comprising the steps of:
-
affixing targets to open of the part and robot; engaging the part with the robot; automatically moving the robot in a predetermined manner; continuously viewing the targets; determining the position of the targeted one of the part and robot; and continuously and automatically correcting an actual movement of the robot in view of the determined position of the targeted one of the part and robot to correct for any deviations from the predetermined manner of movement desired. - View Dependent Claims (16)
-
Specification